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Svenza Revel Robot on ROS Melodic Ubuntu 18.04 #26

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UofI-CDACS opened this issue Nov 9, 2020 · 9 comments
Open

Svenza Revel Robot on ROS Melodic Ubuntu 18.04 #26

UofI-CDACS opened this issue Nov 9, 2020 · 9 comments

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@UofI-CDACS
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Max,

Something got screwed up in my ROS installation and I can no longer run the Revel robot. The revel_dynamic_model dies when running the svenzva_bringup.launch

I would like to reintall the melodic branch, but I can't find it on your github repository.

What am I missing here?

John Shovic
@maxsvetlik
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maxsvetlik commented Nov 9, 2020 via email

@UofI-CDACS
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Max,

I reloaded and compiled from the main branch. Rebooted the computer, power cycled the Arm, made sure it was turned on, etc.

Here are the errors I get:

robotoperator@rosbox3:~/catkin_ws$ roslaunch svenzva_drivers svenzva_bringup.launch
... logging to /home/robotoperator/.ros/log/f7e42460-237a-11eb-b127-00e18ca380ef/roslaunch-rosbox3-20527.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://rosbox3:39927/

SUMMARY

PARAMETERS

  • /arm_speed_limit: 40.0
  • /collision_check_enabled: False
  • /joint_names: ['joint_1', 'join...
  • /joint_state_publisher/arm_namespace: revel
  • /joint_state_publisher/rate: 50
  • /max_motor_id: 7
  • /num_motors_present: 7
  • /revel_driver/arm_namespace: revel
  • /revel_driver/mode: user_defined
  • /revel_driver/param_file: control_params.yaml
  • /revel_driver/update_rate: 50
  • /robot_description: <?xml version="1....
  • /rosdistro: melodic
  • /rosversion: 1.14.9

NODES
/
joint_state_publisher (svenzva_drivers/joint_state_publisher.py)
revel_driver (svenzva_drivers/svenzva_driver.py)
revel_dynamic_model (svenzva_drivers/svenzva_dynamics)
rob_st_pub (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[joint_state_publisher-1]: started with pid [20542]
process[rob_st_pub-2]: started with pid [20543]
process[revel_driver-3]: started with pid [20544]
process[revel_dynamic_model-4]: started with pid [20546]
[ INFO] [1605031682.504772434]: Loading model from /home/robotoperator/catkin_ws/src/svenzva_ros/svenzva_description/robots/svenzva_arm.urdf
[ INFO] [1605031682.507813229]: Kinematic chain expects 6 joints
[INFO] [1605031682.795526]: Starting Joint State Publisher at
started roslaunch server http://rosbox3:39927/ 50Hz
[ WARN] [1605031683.033453209]: Received JointState is 1605031683.033322 seconds old.
[INFO] [1605031684.354148]: revel: Pinging motor IDs 1 through 7...
[revel_dynamic_model-4] process has died [pid 20546, exit code -11, cmd /home/robotoperator/catkin_ws/devel/lib/svenzva_drivers/svenzva_dynamics __name:=revel_dynamic_model __log:=/home/robotoperator/.ros/log/f7e42460-237a-11eb-b127-00e18ca380ef/revel_dynamic_model-4.log].
log file: /home/robotoperator/.ros/log/f7e42460-237a-11eb-b127-00e18ca380ef/revel_dynamic_model-4*.log
^C[revel_driver-3] killing on exit
[rob_st_pub-2] killing on exit
[joint_state_publisher-1] killing on exit
[revel_driver-3] escalating to SIGTERM
[revel_driver-3] escalating to SIGKILL
Shutdown errors:

  • process[revel_driver-3, pid 20544]: required SIGKILL. May still be running.
    shutting down processing monitor...
    ... shutting down processing monitor complete
    done

Interestingly, after shutting down the roslaunch, I get this for rostopics and rosnode:

robotoperator@rosbox3:/catkin_ws$ rostopic list
/joint_states
/revel/model_efforts
/revel/motor_states
/rosout
/rosout_agg
robotoperator@rosbox3:/catkin_ws$ rosnode list
/revel_driver
/revel_dynamic_model
/rosout
robotoperator@rosbox3:~/catkin_ws$

@maxsvetlik
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maxsvetlik commented Nov 11, 2020 via email

@UofI-CDACS
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UofI-CDACS commented Nov 11, 2020 via email

@UofI-CDACS
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Yes, the light on joint2 blinks once when the power is turned on.

John

@UofI-CDACS
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Any ideas on this problem?

I have power cycled everything, made sure all the lights come on in the Robot arm, and I still get exactly the same result.

John

@maxsvetlik
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If the lights flash on the motors, that means they're all connected to power and the USB-to-serial device.
The only thing I can think to check would be the permissions of the USB device. What's the output from the following?

$ ls /dev/ttyUSB0 -lah

@UofI-CDACS
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Max,
crw-rw-rw- 1 root dialout 188,0 Nove 16 11:54 /dev/ttyUSB0

This does not appear to be the problem The Arm is not responding to any commands. Do you have a simple way of testing the robot outside of ROS?

open_gripper no longer works either. I have totally rebooted all computers and the arm. Same results.

I believe we now have a bad robot USB interface, but I'm not sure how to verify this.

John

@maxsvetlik
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I see, thanks for the output. The permissions for the USB file descriptor look OK. It could indeed be a malfunction of the USB interface (though the fact that it is detected as a USB device on your machine is a good sign)

The easiest way to debug connectivity to the motors outside of ROS would be to use the motor manufacture's motor manager software. You can find its manual here and is a Windows-only program I believe. Note that you will want to install the R+ 2.0 software, and will select MX-64 from the motor selection upon running.

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